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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="#pro-static-attribs">Static Protected Attributes</a> &#124;
<a href="structg2o_1_1_g2_o_batch_statistics-members.html">List of all members</a>  </div>
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<div class="title">g2o::G2OBatchStatistics Struct Reference</div>  </div>
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<p>statistics about the optimization  
 <a href="structg2o_1_1_g2_o_batch_statistics.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="batch__stats_8h_source.html">batch_stats.h</a>&gt;</code></p>
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Collaboration diagram for g2o::G2OBatchStatistics:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a99b348cf1d6a913ab6683c44b36a8c55"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a99b348cf1d6a913ab6683c44b36a8c55">G2OBatchStatistics</a> ()</td></tr>
<tr class="separator:a99b348cf1d6a913ab6683c44b36a8c55"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a06f9c667d8b48b8f0023e27011818b64"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structg2o_1_1_g2_o_batch_statistics.html">G2OBatchStatistics</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a06f9c667d8b48b8f0023e27011818b64">globalStats</a> ()</td></tr>
<tr class="separator:a06f9c667d8b48b8f0023e27011818b64"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8c56e85d25e346ba87718621407247fc"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a8c56e85d25e346ba87718621407247fc">setGlobalStats</a> (<a class="el" href="structg2o_1_1_g2_o_batch_statistics.html">G2OBatchStatistics</a> *b)</td></tr>
<tr class="separator:a8c56e85d25e346ba87718621407247fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a719152d550dd4fe3300d06558fe0a6d5"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a719152d550dd4fe3300d06558fe0a6d5">chi2</a></td></tr>
<tr class="memdesc:a719152d550dd4fe3300d06558fe0a6d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">total chi2  <a href="#a719152d550dd4fe3300d06558fe0a6d5">More...</a><br /></td></tr>
<tr class="separator:a719152d550dd4fe3300d06558fe0a6d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5996c5ba000bdfcbcf5c0375a3c62643"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a5996c5ba000bdfcbcf5c0375a3c62643">choleskyNNZ</a></td></tr>
<tr class="memdesc:a5996c5ba000bdfcbcf5c0375a3c62643"><td class="mdescLeft">&#160;</td><td class="mdescRight">number of non-zeros in the cholesky factor  <a href="#a5996c5ba000bdfcbcf5c0375a3c62643">More...</a><br /></td></tr>
<tr class="separator:a5996c5ba000bdfcbcf5c0375a3c62643"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a618a15ba153da1a99b19a2d779cf3764"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a618a15ba153da1a99b19a2d779cf3764">hessianDimension</a></td></tr>
<tr class="memdesc:a618a15ba153da1a99b19a2d779cf3764"><td class="mdescLeft">&#160;</td><td class="mdescRight">rows / cols of the Hessian  <a href="#a618a15ba153da1a99b19a2d779cf3764">More...</a><br /></td></tr>
<tr class="separator:a618a15ba153da1a99b19a2d779cf3764"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0cfa7018402074f47defb9cd5d9d4b64"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a0cfa7018402074f47defb9cd5d9d4b64">hessianLandmarkDimension</a></td></tr>
<tr class="memdesc:a0cfa7018402074f47defb9cd5d9d4b64"><td class="mdescLeft">&#160;</td><td class="mdescRight">dimension of the landmark matrix in Schur  <a href="#a0cfa7018402074f47defb9cd5d9d4b64">More...</a><br /></td></tr>
<tr class="separator:a0cfa7018402074f47defb9cd5d9d4b64"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae2af64720e3f99557924b9cf92ab6f20"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#ae2af64720e3f99557924b9cf92ab6f20">hessianPoseDimension</a></td></tr>
<tr class="memdesc:ae2af64720e3f99557924b9cf92ab6f20"><td class="mdescLeft">&#160;</td><td class="mdescRight">dimension of the pose matrix in Schur  <a href="#ae2af64720e3f99557924b9cf92ab6f20">More...</a><br /></td></tr>
<tr class="separator:ae2af64720e3f99557924b9cf92ab6f20"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a63e30077b9dad65c321b322a2a6f0aea"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a63e30077b9dad65c321b322a2a6f0aea">iteration</a></td></tr>
<tr class="memdesc:a63e30077b9dad65c321b322a2a6f0aea"><td class="mdescLeft">&#160;</td><td class="mdescRight">which iteration  <a href="#a63e30077b9dad65c321b322a2a6f0aea">More...</a><br /></td></tr>
<tr class="separator:a63e30077b9dad65c321b322a2a6f0aea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ef94423b56f6d842e33a7c277c930a0"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a0ef94423b56f6d842e33a7c277c930a0">iterationsLinearSolver</a></td></tr>
<tr class="memdesc:a0ef94423b56f6d842e33a7c277c930a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">iterations of PCG, (0 if not used, i.e., Cholesky)  <a href="#a0ef94423b56f6d842e33a7c277c930a0">More...</a><br /></td></tr>
<tr class="separator:a0ef94423b56f6d842e33a7c277c930a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acd6b82e7401ec8c04e00b14bf76892a9"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#acd6b82e7401ec8c04e00b14bf76892a9">levenbergIterations</a></td></tr>
<tr class="memdesc:acd6b82e7401ec8c04e00b14bf76892a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">number of iterations performed by LM  <a href="#acd6b82e7401ec8c04e00b14bf76892a9">More...</a><br /></td></tr>
<tr class="separator:acd6b82e7401ec8c04e00b14bf76892a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae8924cd0e0e7fee183cba73b706eb5a5"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#ae8924cd0e0e7fee183cba73b706eb5a5">numEdges</a></td></tr>
<tr class="memdesc:ae8924cd0e0e7fee183cba73b706eb5a5"><td class="mdescLeft">&#160;</td><td class="mdescRight">how many edges  <a href="#ae8924cd0e0e7fee183cba73b706eb5a5">More...</a><br /></td></tr>
<tr class="separator:ae8924cd0e0e7fee183cba73b706eb5a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2a3ecd684cb9e60c34afeee0d8f35d23"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a2a3ecd684cb9e60c34afeee0d8f35d23">numVertices</a></td></tr>
<tr class="memdesc:a2a3ecd684cb9e60c34afeee0d8f35d23"><td class="mdescLeft">&#160;</td><td class="mdescRight">how many vertices are involved  <a href="#a2a3ecd684cb9e60c34afeee0d8f35d23">More...</a><br /></td></tr>
<tr class="separator:a2a3ecd684cb9e60c34afeee0d8f35d23"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a60fbec94ce0b7f26ed99d3f6d2080e47"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a60fbec94ce0b7f26ed99d3f6d2080e47">timeIteration</a></td></tr>
<tr class="memdesc:a60fbec94ce0b7f26ed99d3f6d2080e47"><td class="mdescLeft">&#160;</td><td class="mdescRight">total time;  <a href="#a60fbec94ce0b7f26ed99d3f6d2080e47">More...</a><br /></td></tr>
<tr class="separator:a60fbec94ce0b7f26ed99d3f6d2080e47"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac288190f875b8777b3c24c860a3741d7"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#ac288190f875b8777b3c24c860a3741d7">timeLinearize</a></td></tr>
<tr class="memdesc:ac288190f875b8777b3c24c860a3741d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">jacobians  <a href="#ac288190f875b8777b3c24c860a3741d7">More...</a><br /></td></tr>
<tr class="separator:ac288190f875b8777b3c24c860a3741d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a01fea9876aab94b1e69a6a03c20fd98f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a01fea9876aab94b1e69a6a03c20fd98f">timeLinearSolution</a></td></tr>
<tr class="memdesc:a01fea9876aab94b1e69a6a03c20fd98f"><td class="mdescLeft">&#160;</td><td class="mdescRight">total time for solving Ax=b (including detup for schur)  <a href="#a01fea9876aab94b1e69a6a03c20fd98f">More...</a><br /></td></tr>
<tr class="separator:a01fea9876aab94b1e69a6a03c20fd98f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adb423c3dac9262b7f4a315bbb108464a"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#adb423c3dac9262b7f4a315bbb108464a">timeLinearSolver</a></td></tr>
<tr class="memdesc:adb423c3dac9262b7f4a315bbb108464a"><td class="mdescLeft">&#160;</td><td class="mdescRight">time for solving, excluding Schur setup  <a href="#adb423c3dac9262b7f4a315bbb108464a">More...</a><br /></td></tr>
<tr class="separator:adb423c3dac9262b7f4a315bbb108464a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a58e5d0960dc35e682424dce2b50e4fa9"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a58e5d0960dc35e682424dce2b50e4fa9">timeMarginals</a></td></tr>
<tr class="memdesc:a58e5d0960dc35e682424dce2b50e4fa9"><td class="mdescLeft">&#160;</td><td class="mdescRight">computing the inverse elements (solve blocks) and thus the marginal covariances  <a href="#a58e5d0960dc35e682424dce2b50e4fa9">More...</a><br /></td></tr>
<tr class="separator:a58e5d0960dc35e682424dce2b50e4fa9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a31f4a361dba1f3eb8dba2ca2aa326905"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a31f4a361dba1f3eb8dba2ca2aa326905">timeNumericDecomposition</a></td></tr>
<tr class="memdesc:a31f4a361dba1f3eb8dba2ca2aa326905"><td class="mdescLeft">&#160;</td><td class="mdescRight">numeric decomposition (0 if not done)  <a href="#a31f4a361dba1f3eb8dba2ca2aa326905">More...</a><br /></td></tr>
<tr class="separator:a31f4a361dba1f3eb8dba2ca2aa326905"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af949afd7e25ceef08379220ed242aa36"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#af949afd7e25ceef08379220ed242aa36">timeQuadraticForm</a></td></tr>
<tr class="memdesc:af949afd7e25ceef08379220ed242aa36"><td class="mdescLeft">&#160;</td><td class="mdescRight">construct the quadratic form in the graph  <a href="#af949afd7e25ceef08379220ed242aa36">More...</a><br /></td></tr>
<tr class="separator:af949afd7e25ceef08379220ed242aa36"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1815f0fb0a84cd1977d72c83cefdb76b"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a1815f0fb0a84cd1977d72c83cefdb76b">timeResiduals</a></td></tr>
<tr class="memdesc:a1815f0fb0a84cd1977d72c83cefdb76b"><td class="mdescLeft">&#160;</td><td class="mdescRight">timings  <a href="#a1815f0fb0a84cd1977d72c83cefdb76b">More...</a><br /></td></tr>
<tr class="separator:a1815f0fb0a84cd1977d72c83cefdb76b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a79d8935c9af46d716ef2b85b777fabe1"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a79d8935c9af46d716ef2b85b777fabe1">timeSchurComplement</a></td></tr>
<tr class="memdesc:a79d8935c9af46d716ef2b85b777fabe1"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute schur complement (0 if not done)  <a href="#a79d8935c9af46d716ef2b85b777fabe1">More...</a><br /></td></tr>
<tr class="separator:a79d8935c9af46d716ef2b85b777fabe1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a456a521ccb1e4c69940475a92a1f5d29"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a456a521ccb1e4c69940475a92a1f5d29">timeSymbolicDecomposition</a></td></tr>
<tr class="memdesc:a456a521ccb1e4c69940475a92a1f5d29"><td class="mdescLeft">&#160;</td><td class="mdescRight">symbolic decomposition (0 if not done)  <a href="#a456a521ccb1e4c69940475a92a1f5d29">More...</a><br /></td></tr>
<tr class="separator:a456a521ccb1e4c69940475a92a1f5d29"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a510e287e5a3e1f608219147b53e6dc69"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#a510e287e5a3e1f608219147b53e6dc69">timeUpdate</a></td></tr>
<tr class="memdesc:a510e287e5a3e1f608219147b53e6dc69"><td class="mdescLeft">&#160;</td><td class="mdescRight">time to apply the update  <a href="#a510e287e5a3e1f608219147b53e6dc69">More...</a><br /></td></tr>
<tr class="separator:a510e287e5a3e1f608219147b53e6dc69"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-static-attribs"></a>
Static Protected Attributes</h2></td></tr>
<tr class="memitem:ab2afc355eadf0e686507ff621f60d3eb"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structg2o_1_1_g2_o_batch_statistics.html">G2OBatchStatistics</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html#ab2afc355eadf0e686507ff621f60d3eb">_globalStats</a> =0</td></tr>
<tr class="separator:ab2afc355eadf0e686507ff621f60d3eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>statistics about the optimization </p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="groupheader">Member Data Documentation</h2>
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          <td class="memname"><a class="el" href="structg2o_1_1_g2_o_batch_statistics.html">G2OBatchStatistics</a> * g2o::G2OBatchStatistics::_globalStats =0</td>
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<p>total chi2 </p>

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<p>number of non-zeros in the cholesky factor </p>

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<p>rows / cols of the Hessian </p>

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<p>dimension of the landmark matrix in Schur </p>

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<p>dimension of the pose matrix in Schur </p>

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<p>which iteration </p>

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<p>iterations of PCG, (0 if not used, i.e., Cholesky) </p>

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<p>number of iterations performed by LM </p>

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<p>how many edges </p>

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<p>how many vertices are involved </p>

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<p>total time; </p>

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<p>jacobians </p>

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<p>total time for solving Ax=b (including detup for schur) </p>

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<p>time for solving, excluding Schur setup </p>

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<p>computing the inverse elements (solve blocks) and thus the marginal covariances </p>

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<p>numeric decomposition (0 if not done) </p>

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<p>construct the quadratic form in the graph </p>

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<p>timings </p>
<p>residuals </p>

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<p>compute schur complement (0 if not done) </p>

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<p>symbolic decomposition (0 if not done) </p>

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<p>time to apply the update </p>

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<hr/>The documentation for this struct was generated from the following files:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="batch__stats_8h_source.html">batch_stats.h</a></li>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="batch__stats_8cpp.html">batch_stats.cpp</a></li>
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